CN220362581U - Flexible humanoid mechanical arm - Google Patents

Abstract

The utility model relates to the technical field of manipulators, in particular to a flexible humanoid manipulator which comprises a manipulator and an arm assembly; the arm assembly comprises a bottom platform, six bottom universal joints, six first hydraulic cylinders, six top universal joints, a top platform and an arm mechanism; the bottom platform is used for installing on the robot body, the top platform is used for installing arm mechanism, a six degree of freedom parallel structure has been constituteed to bottom platform, top platform, six bottom universal joints, six top universal joints and six first pneumatic cylinders, through the flexible of the six first pneumatic cylinders of separate control for the top platform presents abundant motion gesture, realizes flexible motion characteristic, satisfies arm mechanism's flexibility and medium load demand simultaneously, and this kind of structure is because its high degree of freedom's characteristics, cooperates six first pneumatic cylinders, and the control is very accurate, thereby has solved the unable problem that satisfies flexible control of current arm.

Description

Flexible humanoid mechanical arm

Technical Field

The utility model relates to the technical field of manipulators, in particular to a flexible humanoid manipulator.

Background

The mechanical arm refers to a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. Because of its unique operational flexibility, it has been widely used in the fields of industrial assembly, safety explosion protection, etc.

Most of the mechanical arms in the prior art are 5-degree-of-freedom mechanical arms for industrial use, and are designed only for optimizing the performance of the mechanical arms to complete the working index, so that the mechanical arms are not suitable for humanoid robots, the existing humanoid mechanical arms are designed by taking the industrial mechanical arms as references, the structural characteristics and the movement characteristics of the human arms are not met, and the flexible control cannot be met.

Disclosure of Invention

The utility model aims to provide a flexible humanoid mechanical arm, which aims to solve the problem that the existing mechanical arm cannot meet flexible control.

In order to achieve the above purpose, the utility model provides a flexible humanoid mechanical arm, which comprises a mechanical arm and an arm component;

the arm assembly comprises a bottom platform, six bottom universal joints, six first hydraulic cylinders, six top universal joints, a top platform and an arm mechanism; the six bottom universal joints are fixedly connected with the bottom platform respectively and are positioned at one side of the bottom platform respectively; the six first hydraulic cylinders are fixedly connected with the six bottom universal joints respectively and are positioned at one sides of the six bottom universal joints respectively; the six top universal joints are respectively fixedly connected with the output ends of the six first hydraulic cylinders and are respectively positioned at one sides of the six first hydraulic cylinders; the top platform is fixedly connected with the six top universal joints respectively and is positioned at one side of the six top universal joints; the arm mechanism is arranged on one side of the top platform; the manipulator is arranged on one side of the arm mechanism.

The arm mechanism comprises a big arm, two elbow joints, a small arm, a first shaft, a second shaft, a first pulley, a second pulley and two steel ropes; the large arm is fixedly connected with the top platform and is positioned at one side of the top platform; the two elbow joints are respectively connected with the big arm in a rotating way and are respectively positioned at the side edges of the big arm; the small arm is fixedly connected with the two elbow joints respectively and is positioned between the two elbow joints; the first shaft is fixedly connected with the two elbow joints respectively and penetrates through the big arm; the second shafts are respectively connected with the two elbow joints in a rotating way and respectively penetrate through the small arms; the first pulley is fixedly connected with the first shaft and is penetrated by the first shaft; the second pulley is fixedly connected with the second shaft and penetrated by the second shaft; the two steel ropes are fixedly connected with the first pulley respectively and sleeved on the first pulley and the second pulley.

The arm mechanism further comprises a second hydraulic cylinder; the second hydraulic cylinder is fixedly connected with the top platform and is positioned in the large arm; and the output end of the second hydraulic cylinder is fixedly connected with the two steel ropes respectively.

The arm mechanism further comprises five third hydraulic cylinders; the five third hydraulic cylinders are fixedly connected with the small arms respectively and are located inside the small arms respectively.

According to the flexible humanoid mechanical arm, the bottom platform is arranged on a robot body, the top platform is used for mounting the arm mechanism, the arm mechanism is used for controlling movement of the manipulator, the bottom universal joint is arranged on the bottom platform through bolts, the top universal joint is arranged on the top platform through bolts, the bottom platform, the top platform, the six bottom universal joints, the six top universal joints and the six first hydraulic cylinders form a six-degree-of-freedom parallel structure, the expansion and contraction of the six first hydraulic cylinders are controlled separately, so that the top platform presents rich movement gestures, flexible movement characteristics are achieved, meanwhile, the flexibility and medium load requirements of the arm mechanism are met, the structure is matched with the six first hydraulic cylinders due to the high-degree-of-freedom characteristic of the arm mechanism, and the control is very accurate, so that the problem that the existing mechanical arm cannot meet flexible control is solved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below.

Fig. 1 is a schematic overall structure of a flexible humanoid robot arm of the present utility model.

FIG. 2 is a schematic diagram of a top platform and arm mechanism according to the present utility model.

Fig. 3 is a schematic view of the arm mechanism of the present utility model excluding the large arm and the small arm.

101-manipulator, 102-arm assembly, 103-bottom platform, 104-bottom gimbal, 105-first hydraulic cylinder, 106-top gimbal, 107-top platform, 108-arm mechanism, 109-big arm, 110-elbow joint, 111-small arm, 112-first shaft, 113-second shaft, 114-first pulley, 115-second pulley, 116-steel rope, 117-second hydraulic cylinder, 118-third hydraulic cylinder.

Detailed Description

Referring to fig. 1-3, fig. 1 is a schematic overall structure of a flexible humanoid mechanical arm of the present utility model, fig. 2 is a schematic structure of a top platform and an arm mechanism of the present utility model, and fig. 3 is a schematic structure of an arm mechanism of the present utility model excluding a big arm and a small arm.

The utility model provides a flexible humanoid mechanical arm, which comprises: including a robot 101 and an arm assembly 102; the arm assembly 102 includes a bottom platform 103, six bottom gimbals 104, six first hydraulic cylinders 105, six top gimbals 106, a top platform 107, and an arm mechanism 108; the arm mechanism 108 includes a large arm 109, two elbow joints 110, a small arm 111, a first shaft 112, a second shaft 113, a first pulley 114, a second pulley 115, two steel ropes 116, a second hydraulic cylinder 117, and a third hydraulic cylinder 118. The problem that the existing mechanical arm cannot meet flexible control is solved through the scheme.

For the present embodiment, the manipulator 101 is a prior art for gripping an article.

Six bottom universal joints 104 are respectively and fixedly connected with the bottom platform 103 and are respectively positioned at one side of the bottom platform 103; the six first hydraulic cylinders 105 are fixedly connected with the six bottom universal joints 104 respectively and are located at one sides of the six bottom universal joints 104 respectively; the six top universal joints 106 are respectively fixedly connected with the output ends of the six first hydraulic cylinders 105 and are respectively positioned at one side of the six first hydraulic cylinders 105; the top platform 107 is fixedly connected with the six top universal joints 106 respectively, and is located at one side of the six top universal joints 106; the arm mechanism 108 is arranged on one side of the top platform 107; the manipulator 101 is disposed on the arm mechanism 108 side. The bottom platform 103 is used for installing on the robot body, the top platform 107 is used for installing the arm mechanism 108, the arm mechanism 108 is used for controlling the removal of manipulator 101, the bottom universal joint 104 passes through the bolt to be installed on the bottom platform 103, the top universal joint 106 passes through the bolt to be installed on the top platform 107, the bottom platform 103, the top platform 107, six the bottom universal joint 104, six the top universal joint 106 and six the first pneumatic cylinder 105 constitutes a six degree of freedom parallel structure, through separately controlling six the flexible of first pneumatic cylinder 105 for the top platform 107 presents abundant motion gesture, realizes flexible motion characteristic, satisfies simultaneously the flexibility and the medium load demand of arm mechanism 108, and this kind of structure cooperates six because of its high degree of freedom's characteristics first pneumatic cylinder 105, and the control is very accurate, thereby has solved the problem that current robotic arm can't satisfy flexible control.

Secondly, the large arm 109 is fixedly connected with the top platform 107 and is located at one side of the top platform 107; the two elbow joints 110 are respectively connected with the big arm 109 in a rotating way and are respectively positioned at the side edges of the big arm 109; the small arms 111 are fixedly connected with the two elbow joints 110 respectively and are positioned between the two elbow joints 110; the first shaft 112 is fixedly connected with the two elbow joints 110 respectively and passes through the large arm 109; the second shafts 113 are respectively rotatably connected with the two elbow joints 110 and respectively pass through the small arms 111; the first pulley 114 is fixedly connected with the first shaft 112 and is penetrated by the first shaft 112; the second pulley 115 is fixedly connected with the second shaft 113 and is penetrated by the second shaft 113; the two steel ropes 116 are fixedly connected with the first pulley 114, and are sleeved on the first pulley 114 and the second pulley 115. The big arm 109 is fixed on one side of the top platform 107, and pulls two steel ropes 116 to drive the first pulley 114 and the second pulley 115 to rotate, the first pulley 114 drives the first shaft 112, the first shaft 112 drives two elbow joints 110, and the two elbow joints 110 drive the small arm 111 to swing inwards.

Meanwhile, the second hydraulic cylinder 117 is fixedly connected with the top platform 107 and is located inside the large arm 109; the output end of the second hydraulic cylinder 117 is fixedly connected with the two steel ropes 116 respectively. The second hydraulic cylinder 117 is used to pull both the steel ropes 116.

In addition, the five third hydraulic cylinders 118 are fixedly connected to the small arms 111, and are located inside the small arms 111, respectively. The third hydraulic cylinder 118 is used to power the grabbing action of the manipulator 101.

According to the flexible humanoid mechanical arm disclosed by the utility model, the bottom platform 103 is used for being mounted on a robot body, the top platform 107 is used for being mounted with the arm mechanism 108, the arm mechanism 108 is used for controlling the movement of the manipulator 101, the bottom universal joint 104 is mounted on the bottom platform 103 through bolts, the top universal joint 106 is mounted on the top platform 107 through bolts, the bottom platform 103, the top platform 107, the six bottom universal joints 104, the six top universal joints 106 and the six first hydraulic cylinders 105 form a six-degree-of-freedom parallel structure, and the flexible movement characteristics of the top platform 107 are realized by separately controlling the expansion and contraction of the six first hydraulic cylinders 105, so that the flexibility and medium load requirements of the arm mechanism 108 are met, and the structure is very accurate in control by matching with the six first hydraulic cylinders 105 due to the high-degree-of-freedom characteristics, so that the problem that the existing mechanical arm cannot meet the flexible control is solved; said second hydraulic cylinder 117 pulls both said steel ropes 116; the first pulley 114 and the second pulley 115 are driven to rotate, the first pulley 114 drives the first shaft 112, the first shaft 112 drives the two elbow joints 110, and the two elbow joints 110 drive the forearm 111 to swing inwards; it should be noted that both ends of the first shaft 112 and both ends of the second shaft 113 have end caps.

The foregoing disclosure is only illustrative of one or more preferred embodiments of the present application and is not intended to limit the scope of the claims hereof, as it is to be understood by those skilled in the art that all or part of the process of implementing the described embodiment may be practiced otherwise than as specifically described and illustrated by the appended claims.

Claims (4)

1. A flexible humanoid mechanical arm, which comprises a mechanical arm and is characterized in that,

the device also comprises an arm component;

the arm assembly comprises a bottom platform, six bottom universal joints, six first hydraulic cylinders, six top universal joints, a top platform and an arm mechanism;

the six bottom universal joints are fixedly connected with the bottom platform respectively and are positioned at one side of the bottom platform respectively; the six first hydraulic cylinders are fixedly connected with the six bottom universal joints respectively and are positioned at one sides of the six bottom universal joints respectively; the six top universal joints are respectively fixedly connected with the output ends of the six first hydraulic cylinders and are respectively positioned at one sides of the six first hydraulic cylinders; the top platform is fixedly connected with the six top universal joints respectively and is positioned at one side of the six top universal joints; the arm mechanism is arranged on one side of the top platform; the manipulator is arranged on one side of the arm mechanism.

2. A flexible humanoid robot arm as claimed in claim 1, characterized in that,

the arm mechanism comprises a big arm, two elbow joints, a small arm, a first shaft, a second shaft, a first pulley, a second pulley and two steel ropes; the large arm is fixedly connected with the top platform and is positioned at one side of the top platform; the two elbow joints are respectively connected with the big arm in a rotating way and are respectively positioned at the side edges of the big arm; the small arm is fixedly connected with the two elbow joints respectively and is positioned between the two elbow joints; the first shaft is fixedly connected with the two elbow joints respectively and penetrates through the big arm; the second shafts are respectively connected with the two elbow joints in a rotating way and respectively penetrate through the small arms; the first pulley is fixedly connected with the first shaft and is penetrated by the first shaft; the second pulley is fixedly connected with the second shaft and penetrated by the second shaft; the two steel ropes are fixedly connected with the first pulley respectively and sleeved on the first pulley and the second pulley.

3. A flexible humanoid robot arm as claimed in claim 2, characterized in that,

the arm mechanism further comprises a second hydraulic cylinder; the second hydraulic cylinder is fixedly connected with the top platform and is positioned in the large arm; and the output end of the second hydraulic cylinder is fixedly connected with the two steel ropes respectively.

4. A flexible humanoid robot arm as claimed in claim 3, characterized in that,

the arm mechanism further comprises five third hydraulic cylinders; the five third hydraulic cylinders are fixedly connected with the small arms respectively and are located inside the small arms respectively.